Teleop isn't moving Gopigo2 robot
Gopigo2 Rpi2B - Linux raspberrypi 4.9.35-v7+ #1014 SMP Fri Jun 30 14:47:43 BST 2017 armv7l GNU/Linux PRETTYNAME="Raspbian GNU/Linux 8 (jessie)" NAME="Raspbian GNU/Linux" VERSIONID="8" VERSION="8 (jessie)" ID=raspbian ID_LIKE=debian
When I run teleoptwistkeyboard and try to initiate a command on my gopigo nothing happens. You can see the messages change as shown below but no change on the gopigo/ropigo. The topics are displaying on the remote PC(not ssh). Any idea what I should look at first? Thanks in advance.
ubuntu@ubuntu:~$ rostopic echo /cmd_vel
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
---
linear:
x: 0.55
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.1
ubuntu@ubuntu:~/catkin_ws$ rostopic list
/battery
/cmd_vel
/lwheel
/rosout
/rosout_agg
/rwheel
/servo_cmd
/servo_state
/ultrasonic
pi@raspberrypi:~/gopigo_ws $ rosrun ropigo ropigo_node
[ INFO] [1514071469.689818951]: GoPiGo Firmware Version: 16
[ INFO] [1514071469.690366452]: GoPiGo Board Version: 14
pi@raspberrypi:~/Dexter/GoPiGo/Troubleshooting $ roswtf
No package or stack in context
================================================================================
Static checks summary:
No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
Online checks summary:
Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
* /ropigo:
* /servo_cmd
=============================
GoPiGo Troubleshooting Script
=============================
Adding permissions to the scripts
=================================
Check space left
================
Filesystem Size Used Avail Use% Mounted on
/dev/root 30G 8.0G 21G 29% /
devtmpfs 458M 0 458M 0% /dev
tmpfs 462M 0 462M 0% /dev/shm
tmpfs 462M 6.3M 456M 2% /run
tmpfs 5.0M 4.0K 5.0M 1% /run/lock
tmpfs 462M 0 462M 0% /sys/fs/cgroup
/dev/mmcblk0p1 42M 21M 21M 51% /boot
tmpfs 93M 0 93M 0% /run/user/1000
Check for dependencies
======================
python 2.7.9-1 install ok installed
python-pip 1.5.6-5 install ok installed
git 1:2.1.4-2.1+deb8u5 install ok installed
libi2c-dev 3.1.1+svn-2 install ok installed
python-serial 2.6-1.1 install ok installed
python-rpi.gpio 0.6.3~jessie-1 install ok installed
i2c-tools 3.1.1+svn-2 install ok installed
python-smbus 3.1.1+svn-2 install ok installed
arduino 2:1.0.5+dfsg2-4 install ok installed
minicom 2.7-1+deb8u1 install ok installed
scratch 1.4.0.6~dfsg1-5 install ok installed
wiringPi Found
wiringPi Found
I2C still in blacklist (ERR)
SPI still in blacklist (ERR)
Check for addition in /modules
==============================
I2C-dev already there
i2c-bcm2708 already there
spi-dev already there
Hardware revision
=================
gpio version: 2.36
Copyright (c) 2012-2015 Gordon Henderson
This is free software with ABSOLUTELY NO WARRANTY.
For details type: gpio -warranty
Raspberry Pi Details:
Type: Pi 2, Revision: 01, Memory: 1024MB, Maker: Embest
* Device tree is enabled.
*--> Raspberry Pi 2 Model B Rev 1.1
* This Raspberry Pi supports user-level GPIO access.
Check the /dev folder
=====================
i2c-1
ttyAMA0
USB device status
=================
Bus 001 Device 004: ID 148f:7601 Ralink Technology, Corp.
Bus 001 Device 003: ID 0424:ec00 Standard Microsystems Corp. SMSC9512/9514 Fast Ethernet Adapter
Bus 001 Device 002: ID 0424:9514 Standard Microsystems Corp.
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
/: Bus 01.Port 1: Dev 1, Class=root_hub, Driver=dwc_otg/1p, 480M
|__ Port 1: Dev 2, If 0, Class=Hub, Driver=hub/5p, 480M
|__ Port 1: Dev 3, If 0, Class=Vendor Specific Class, Driver=smsc95xx, 480M
|__ Port 5: Dev 4, If 0, Class=Vendor Specific Class, Driver=mt7601u, 480M
Checking for Atmega chip
========================
avrdude: Version 5.10, compiled on Jun 18 2012 at 12:38:29
Copyright (c) 2000-2005 Brian Dean, http://www.bdmicro.com/
Copyright (c) 2007-2009 Joerg Wunsch
System wide configuration file is "/etc/avrdude.conf"
User configuration file is "/root/.avrduderc"
User configuration file does not exist or is not a regular file, skipping
Using Port : unknown
Using Programmer : gpio
AVR Part : ATMEGA328P
Chip Erase delay : 9000 us
PAGEL : PD7
BS2 : PC2
RESET disposition : dedicated
RETRY pulse : SCK
serial program mode : yes
parallel program mode : yes
Timeout : 200
StabDelay : 100
CmdexeDelay : 25
SyncLoops : 32
ByteDelay : 0
PollIndex : 3
PollValue : 0x53
Memory Detail :
Block Poll Page Polled
Memory Type Mode Delay Size Indx Paged Size Size #Pages MinW MaxW ReadBack
----------- ---- ----- ----- ---- ------ ------ ---- ------ ----- ----- ---------
eeprom 65 5 4 0 no 1024 4 0 3600 3600 0xff 0xff
flash 65 6 128 0 yes 32768 128 256 4500 4500 0xff 0xff
lfuse 0 0 0 0 no 1 0 0 4500 4500 0x00 0x00
hfuse 0 0 0 0 no 1 0 0 4500 4500 0x00 0x00
efuse 0 0 0 0 no 1 0 0 4500 4500 0x00 0x00
lock 0 0 0 0 no 1 0 0 4500 4500 0x00 0x00
calibration 0 0 0 0 no 1 0 0 0 0 0x00 0x00
signature 0 0 0 0 no 3 0 0 0 0 0x00 0x00
Programmer Type : GPIO
Description : Use sysfs interface to bitbang GPIO lines
avrdude: AVR device initialized and ready to accept instructions
Reading | ################################################## | 100% 0.00s
avrdude: Device signature = 0x1e950f
avrdude: safemode: lfuse reads as 7F
avrdude: safemode: hfuse reads as DA
avrdude: safemode: efuse reads as 5
avrdude: safemode: lfuse reads as 7F
avrdude: safemode: hfuse reads as DA
avrdude: safemode: efuse reads as 5
avrdude: safemode: Fuses OK
avrdude done. Thank you.
Checking I2C bus for devices
============================
Checking I2C bus 0
==================
Error: Could not open file `/dev/i2c-0' or `/dev/i2c/0': No such file or directory
Checking I2C bus 1
==================
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- 08 -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --
Checking for firmware version and CPU Speed and Voltage
=======================================================
v 1.6
CPU speed: 2
4.33 V
CHECKING ENCODER READINGS
0 0
Both motors moving Forward with LED On
after 5 sec 40 33
Both motors stopped with LED Off
None after stop cmd 42 34
None after 2 more sec 42 34
Both motors moving back with LED On
after 5 sec 82 69
Both motors stopped with LED Off
None after stop cmd 84 70
None after 2 more sec 84 70
CHECKING ENCODER TARGETING
Initial encoder read vals: 0 0
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
FAIL
Final encoder read vals: 47 42
Initial encoder read vals: 0 0
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
FAIL
Final encoder read vals: 49 40
Initial encoder read vals: 0 0
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
FAIL
Final encoder read vals: 49 39
Initial encoder read vals: 0 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
FAIL
Final encoder read vals: 50 39
Initial encoder read vals: 0 0
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
Enc tgt Status: 1
FAIL
Final encoder read vals: 50 38
Asked by Noidea on 2017-12-23 19:55:29 UTC
Comments
Tip: state the problem in the title. E.g., "Teleop isn't moving Gopigo2 robot."
Asked by clyde on 2017-12-24 13:17:11 UTC
Looks like https://github.com/ros-gopigo/ros-node-ropigo/blob/master/src/ropigo.cpp has lots of DEBUG messages. You can use these to make sure that the node is receiving and responding to the message. See http://wiki.ros.org/rosconsole#Configuration for logging configuration.
Asked by clyde on 2017-12-24 13:18:57 UTC
Thanks clyde I added to my post the output from turning on a LED but the LED doesnt light.
Asked by Noidea on 2017-12-24 15:22:38 UTC
Does it work if you run teleop_twist_keyboard on the raspberry PI over SSH? If it does, it could indicate a network issue.
Asked by ahendrix on 2017-12-26 23:07:25 UTC
Hi ahendrix, I tried enabling a LED through the service directly on the robot and it says it enable and returns no errors but the LED never comes on. When I initial the cpp file with rosrun the LED's light as they should but for some reason the service is no initiating the enable command.
Asked by Noidea on 2017-12-27 13:09:56 UTC